Heat a large pot or Dutch oven over medium-high heat. Add beef mixture and cook, stirring constantly, until onions soften and become golden and beef browns, 15 to 20 minutes. Stir in 1 cup chopped cilantro and jalapeno peppers.

Spread each hoagie bun with 2 tablespoons chipotle mayonnaise. Spoon beef mixture into buns and top each sandwich with 2 ounces Asiago cheese.

Place sandwiches on a baking sheet and bake in the preheated oven until cheese is melted and bread is toasted and warm, about 5 minutes. Divide fresh avocado, cherry tomatoes, and 1/2 cup cilantro over the 4 sandwiches.